Programming Limit Switch

[OwenVanTiem]

I am the programmer for my team, and I am curious how to program a limit switch. I cant seem to find any documentation or code snippets elsewhere on the internet.

[NWChen]

Initialize limit switches as a digital input:

DigitalInput switch = new DigitalInput(channel)

To check if a switch is closed or not, use the get() method:

if(switch.get()) doSomething();

See this thread.

[notmattlythgoe]

What Signet said.

Also, if you ware using the Command Based structure with Java you can set the limit switch up to act as a button to fire a command.

final DigitalInput limitSwitch = new DigitalInput(1);
Button limitSwitchButton = new Button() {
     public boolean get() {
           return limitSwitch.get();
     }
};
limitSwitchButton.whenPressed(new SomethingCommand());

[gixxy]

Originally Posted by notmattlythgoe

What Signet said.

Also, if you ware using the Command Based structure with Java you can set the limit switch up to act as a button to fire a command.

final DigitalInput limitSwitch = new DigitalInput(1);
Button limitSwitchButton = new Button() {
     public boolean get() {
           return limitSwitch.get();
     }
};
limitSwitchButton.whenPressed(new SomethingCommand());

Actually there is already a class for this in WPILib: DigitalIOButton.

So you just need:

Button limitSwitchButton = new DigitalIOButton(1);
limitSwitchButton.whenPressed(new limitSwitchCommand());

[notmattlythgoe]

Originally Posted by gixxy

Actually there is already a class for this in WPILib: DigitalIOButton.

So you just need:

Button limitSwitchButton = new DigitalIOButton(1);
limitSwitchButton.whenPressed(new limitSwitchCommand());

Even simpler.